High-altitude climbing robot working platform

Abstract

The high-altitude climbing robot working platform comprises a machine body, a power device, an encircling device and clamping mechanisms, the power device and the encircling device are connected to the two sides of the machine body correspondingly, and the clamping mechanisms comprise the first-stage clamping mechanism and the second-stage clamping mechanism; the clamping mechanisms are arranged at the upper end and the lower end of the power device. The mechanism can complete various complex tasks in the air by combining various auxiliary devices, meanwhile, can climb rapidly and achieve the obstacle avoidance function, is adaptive to trunks with different diameters, and has high adsorption capacity. And heavy loads can be borne, and high-altitude operation can be conveniently carried out by equipping various tools and equipment. The robot is simple in structure, and the functions of rapid climbing, obstacle avoidance, high-altitude operation and the like can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a robot platform capable of quickly climbing and operating in the sky. Background Art

[0002] The high-altitude climbing robot work platform is a kind of platform on which various required working equipment (such as mechanical arms, etc.) can be assembled to complete various work tasks. With the application of climbing robots in agriculture (fruit picking), forestry (pruning), ecological environment monitoring, high-altitude power equipment maintenance and installation, etc., climbing robots have been vigorously developed.

[0003] The main adsorption methods of climbing robots include negative pressure adsorption, magnetic adsorption, bionic adsorption and mechanical claw clamping. At present, the mainstream climbing robots are mainly wheeled, tracked, multi-legged bionic and embracing clamping. Wheeled tree climbing robots have the advantages of large load and fast climbing speed, but the adsorption capacity is relatively low. Multi-legged robots can adapt to trees of various shapes and sizes, and have good balance, stability and flexibility, but the climbing speed is relatively slow.

[0004] At present, there is no tree-climbing robot that combines the advantages of wheeled, embracing and clamping, and multi-legged bionic styles. Summary of the invention

[0005] The invention discloses a high-altitude climbing robot working platform, which provides a fast climbing robot working platform that can complete various complex tasks in the air by combining various auxiliary equipment, and can quickly climb and achieve obstacle avoidance functions, and is adaptive to tree trunks of different diameters. The high-altitude climbing robot working platform firmly grasps the tree trunk through an embracing device and a clamping mechanism, so that the entire platform has a strong adsorption force. It can withstand heavier loads and is convenient to be equipped with a variety of tools and equipment for high-altitude operations.

[0006] The technical solution of the present invention is: a high-altitude climbing robot working platform, comprising a fuselage (10), a power device (20), an embracing device (30) and a clamping mechanism (40), wherein the power device (20) and the embracing device (30) are respectively connected to two sides of the fuselage (10), and the clamping mechanism (40) comprises a primary clamping mechanism and a secondary clamping mechanism, and the clamping mechanism (40) is arranged at the upper and lower ends of the power device (20).

[0007] The fuselage (10) comprises a fuselage main board (101), a fuselage side board (102), a frame (103) and a bolt hinge (104). The primary clamping mechanism (102) is connected to both sides of the fuselage main board (101) through the bolt hinge (104). The frame (103) is fixedly installed directly below the fuselage main board (101).

[0008] The power device (20) comprises a driving motor (201), a cylinder (202), a cylinder push rod (203), a cylinder push rod (204) and a wheel (205). The driving motor (201) is fixedly mounted on the fuselage side panel (102). The cylinder (202) is fixedly mounted on the fuselage main panel (101).

[0009] The embracing device (30) comprises a worm gear motor carrier plate (301), a worm gear motor (302), an active rod (303), a swing rod 1 (304), a connecting rod 1 (305), an active wheel driving motor (306), a connecting rod 2 (307), a swing rod 2 (308), an end driven wheel fixing bracket (309), an active wheel (310), a supporting platform (311), a supporting platform cylinder push rod (312), and a supporting platform driving cylinder (313). The worm gear motor carrier plate (301) is fixedly mounted above the fuselage main board (101), and the environmental protection device (30) is fixedly mounted on both sides of the worm gear motor carrier plate (301); the worm gear motor (302) is fixedly mounted on both sides of the worm gear motor carrier plate (301) to drive spur gears, and the spur gears are meshed with one end of the incomplete gear of the active rod (303).

[0010] The clamping mechanism (40) includes a primary clamping mechanism and a secondary clamping mechanism. The primary clamping mechanism includes a body (10), a cylinder (202), a cylinder push rod (203), a cylinder push rod (204), and a connecting column (401). The secondary clamping mechanism includes a driving motor (402), a motor carrier plate (403), a first connecting rod (404), a first swing rod (405), a second connecting rod (406), a second swing rod (407), an end driven wheel fixing bracket (408), a driven wheel (409), and a driven wheel bracket (410). In the primary clamping mechanism, the cylinder (202) is fixedly mounted on the upper and lower parts of the frame (103); the cylinder push rod (203), the cylinder push rod (204), and the connecting column (401) are connected by a pin shaft; the cylinder push rod (203), the cylinder push rod (204), and the connecting column (401) are symmetrically mounted on both ends of the cylinder (202). The motor carrier plate (403) in the secondary clamping mechanism is fixedly mounted on the upper and lower ends of the fuselage side plate (102), and the driving motor (402) and the first connecting rod (404) are fixedly mounted on the motor carrier plate (403); the first connecting rod (404) and the first swing rod (405) are connected by bolts. The second connecting rod (406), the second swing rod (407) and the end driven wheel fixing bracket (408) are connected by a pin shaft, and the driven wheel bracket (410) is fixedly mounted by bolts.

[0011] Compared with the prior art, the present invention has the following beneficial effects: 1. The fuselage (10) can carry a variety of working equipment and complete a variety of complex work tasks at high altitudes. 2. The power device (20) provides sufficient power for the entire working platform, enabling it to climb quickly. 3. The embracing device 30 can realize the function of rapid obstacle avoidance through the cooperation of the mechanical arm and the supporting platform. 4. The clamping mechanism has a primary and secondary clamping mechanism, which enables it to have a stronger adsorption capacity, improve the anti-self-falling ability of the entire working platform, and have a higher safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is the overall structure diagram of the present invention;

[0013] Figure 2 It is a fuselage structure diagram of the present invention;

[0014] Figure 3 A power device of the present invention;

[0015] Figure 4 The embracing device of the present invention;

[0016] Figure 5 It is a structural diagram of the clamping mechanism of the present invention;

[0017] The markings shown in the figure are:

[0018] 10-fuselage: 101-fuselage main board, 102-fuselage side panel, 103-frame and 104-bolt hinge.

[0019] 20-Power device: 201-Drive motor, 202-Cylinder, 203-Cylinder push rod, 204-Cylinder push rod and 205-Wheel

[0020] 30-encircling device: 301-worm gear motor carrier, 302-worm gear motor, 303-active rod, 304-swing rod 1, 305-connecting rod 1, 306-active wheel drive motor, 307-connecting rod 2, 308-swing rod 2, 309-end driven wheel fixing bracket, 310-active wheel, 311-support platform, 312-support platform cylinder push rod, 313-support platform drive cylinder

[0021] 40-clamping mechanism: 401-connecting column, 402-driving motor, 403-motor carrier plate, 404-first connecting rod, 405-first swing rod, 406-second connecting rod, 407-second swing rod, 408-end driven wheel fixing bracket, 409-driven wheel and 410-driven wheel bracket. DETAILED DESCRIPTION

[0022] The invention will be further described below in conjunction with the accompanying drawings and embodiments, but the content of the invention is not limited to the scope of the embodiments.

[0023] Example 1: Figure 1-5 As shown, the high-altitude climbing robot working platform includes a fuselage 10, a power device 20, an embracing device 30 and a clamping mechanism 40, wherein the embracing device 30 includes a primary motion mechanism and a secondary motion mechanism; the power device 20 and the embracing device 30 are respectively connected to both sides of the fuselage 10, and the clamping mechanism 40 is installed on the upper and lower parts of the fuselage side panel (102).

[0024] Furthermore, the fuselage (10) comprises a fuselage main board (101), a fuselage side board (102), a frame (103) and a bolt hinge (104). The primary clamping mechanism (102) is connected to both sides of the fuselage main board (101) through the bolt hinge (104). The frame (103) is fixedly installed directly below the fuselage main board (101) through bolts.

[0025] Furthermore, the power device (20) comprises a driving motor (201), a cylinder (202), a cylinder push rod (203), a cylinder push rod (204) and a wheel (205), wherein the driving motor (201) is fixedly mounted on the fuselage side panel (102) via a motor cover by means of bolts. The driving motor (201) directly drives the wheel (205) to rotate, thereby driving the entire robot working platform to climb rapidly; the cylinder (202) drives the cylinder push rod (203), which in turn drives the cylinder push rod (204), which in turn drives the fuselage side panel (102). The cylinder (202) is fixedly mounted on the fuselage mainboard (101) via a cylinder cover by means of bolts.

[0026] Furthermore, the embracing device (30) comprises a worm gear motor carrier plate (301), a worm gear motor (302), an active rod (303), a swing rod 1 (304), a connecting rod 1 (305), a driving wheel driving motor (306), a connecting rod 2 (307), a swing rod 2 (308), an end driven wheel fixing bracket (309), a driving wheel (310), a supporting platform (311), a supporting platform cylinder push rod (312), and a supporting platform driving cylinder (313). The worm gear motor carrier plate (301) is fixedly mounted just above the main body plate (101), and the embracing device (30) is fixedly mounted on both sides of the worm gear motor carrier plate (301); the worm gear motor (302) is fixedly mounted on both sides of the worm gear motor carrier plate (301), the worm gear motor (302) drives the spur gear to rotate, the spur gear meshes with one end of the incomplete gear of the active rod (303), and the spur gear transmits kinetic energy to the active rod (303); the active rod (303) then drives the swing rod 1 (304) to move, thereby pushing the primary motion mechanism in the embracing device (30) to clamp the tree trunk, and then the swing rod 1 (304) pushes the swing rod 2 (308) to move, thereby driving the terminal driven wheel fixing bracket (309) to move, and finally the driven wheel grabs the tree trunk. The supporting platform driving cylinder (313) then pushes the supporting platform cylinder push rod (312) to move, and the supporting platform cylinder push rod (312) then pushes the supporting platform (311) to hold the tree trunk, and the entire robot working platform is slightly lifted. The driving wheel driving motor (306) then drives the driving wheel (310) to drive the terminal driven wheel to rotate together, and drives the entire robot working platform to rotate together, thereby realizing a rapid obstacle avoidance function.

[0027] Furthermore, the clamping mechanism (40) includes a primary clamping mechanism and a secondary clamping mechanism, the primary clamping mechanism includes a body (10), a cylinder (202), a cylinder push rod (203), a cylinder push rod (204), and a connecting column (401). The secondary clamping mechanism includes a driving motor (402), a motor carrier plate (403), a first connecting rod (404), a first swing rod (405), a second connecting rod (406), a second swing rod (407), an end driven wheel fixing bracket (408), a driven wheel (409), and a driven wheel bracket (410). In the primary clamping mechanism, the cylinder is fixedly mounted on the upper and lower parts of the frame (103) through a cylinder head; the cylinder push rod (203), the cylinder push rod (204) and the connecting column (401) are connected through a pin shaft; the cylinder push rod (203), the cylinder push rod (204) and the connecting column (401) are symmetrically mounted on both ends of the cylinder (202). The motor carrier plate (403) in the secondary clamping mechanism is fixedly mounted on the upper and lower ends of the fuselage side plate (102) by bolts, and the driving motor (402) and the first connecting rod (404) are fixedly mounted on the motor carrier plate (403); the first connecting rod (404) and the first swing rod (405) are connected by bolts. The second connecting rod (406), the second swing rod (407) and the end driven wheel fixing bracket (408) are connected by a pin shaft, and the driven wheel bracket (410) is fixedly mounted by bolts. The first-stage clamping mechanism is driven by the cylinder (202) to push the cylinder push rod (203), and then the cylinder push rod (203) pushes the cylinder push rod (204), and then the cylinder push rod (204) pushes the connecting column (401), and then the connecting column (401) drives the fuselage side plate (102) to move, so that the wheel (205) is fixed on the tree trunk; then the driving motor in the second-stage clamping mechanism drives the first connecting rod (404) to move, and then the first connecting rod (404) drives the first swing rod (405) to move, and pushes the driven wheel bracket (410) to be fixed on the tree trunk; then the first swing rod drives the second swing rod to move, and the second swing rod drives the second connecting rod (406) to move, so that the terminal driven wheel fixing bracket (408) moves, and the terminal driven wheel is fixed on the tree trunk. Thus, the entire robot working platform is firmly adsorbed on the tree trunk. Then the driving motor (201) drives the wheel (205), and pushes the robot working platform to climb quickly. At the same time, since the clamping mechanism can drive the fuselage side panels (102) to open and contract through the cylinder (202) to clamp tree trunks of different sizes, and the first and second level motion mechanisms in the secondary clamping mechanism can also freely adjust to adapt to tree trunks of different diameters, the high-altitude climbing robot working platform has a strong adaptive ability, which greatly increases the adaptability of the device in complex environments and expands the application range of the device.

[0028] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and suitable working equipment can also be equipped according to specific working requirements, thereby greatly expanding the application field of the present invention.

Claims

1. High-altitude climbing robot working platform, characterized in that: The invention comprises a fuselage (10), a power device (20), an embracing device (30) and a clamping mechanism (40), wherein the clamping mechanism (40) comprises a primary clamping mechanism and a secondary clamping mechanism, the power device (20) and the embracing device (30) are respectively connected to two sides of the fuselage (10), and the clamping mechanism (40) is arranged at the upper and lower ends of a fuselage side panel (102).

2. The high-altitude climbing robot working platform according to claim 1, characterized in that: The fuselage (10) comprises a fuselage main board (101), a fuselage side board (102), a frame (103) and a bolt hinge (104). The primary clamping mechanism (102) is connected to both sides of the fuselage main board (101) through the bolt hinge (104). The frame (103) is fixedly installed directly below the fuselage main board (101) through bolts.

3. The high-altitude climbing robot working platform according to claim 1, characterized in that: The power device (20) comprises a driving motor (201), a cylinder (202), a cylinder push rod (203), a cylinder push rod (204) and a wheel (205). The driving motor (201) is fixedly mounted on the fuselage side panel (102). The cylinder (202) is mounted on the fuselage main panel (101).

4. The high-altitude climbing robot working platform according to claim 1, characterized in that: The embracing device (30) comprises a worm gear motor carrier plate (301), a worm gear motor (302), an active rod (303), a swing rod 1 (304), a connecting rod 1 (305), an active wheel driving motor (306), a connecting rod 2 (307), a swing rod 2 (308), an end driven wheel fixing bracket (309), an active wheel (310), a supporting platform (311), a supporting platform cylinder push rod (312), and a supporting platform driving cylinder (313). The worm gear motor carrier plate (301) is fixedly mounted directly above the fuselage main board (101), and the embracing device (30) is fixedly mounted on both sides of the worm gear motor carrier plate (301); the worm gear motor (302) is fixedly mounted on both sides of the worm gear motor carrier plate (301), and the spur gear is meshed with one end of the incomplete gear of the active rod (303).

5. The high-altitude climbing robot working platform according to claim 1, characterized in that: The clamping mechanism (40) includes a primary clamping mechanism and a secondary clamping mechanism. The primary clamping mechanism includes a body (10), a cylinder (202), a cylinder push rod (203), a cylinder push rod (204), and a connecting column (401). The secondary clamping mechanism includes a driving motor (402), a motor carrier plate (403), a first connecting rod (404), a first swing rod (405), a second connecting rod (406), a second swing rod (407), an end driven wheel fixing bracket (408), a driven wheel (409), and a driven wheel bracket (410). In the primary clamping mechanism, the cylinder (202) is fixedly mounted on the upper and lower parts of the frame (103); the cylinder push rod (203), the cylinder push rod (204), and the connecting column (401) are connected by a pin shaft; the cylinder push rod (203), the cylinder push rod (204), and the connecting column (401) are symmetrically mounted on both ends of the cylinder (202). The motor carrier plate (403) in the secondary clamping mechanism is fixedly mounted on the upper and lower ends of the fuselage side plate (102), and the driving motor (402) and the first connecting rod (404) are fixedly mounted on the motor carrier plate (403); the first connecting rod (404) and the first swing rod (405) are connected by bolts. The second connecting rod (406), the second swing rod (407) and the end driven wheel fixing bracket (408) are connected by a pin shaft, and the driven wheel bracket (410) is fixedly mounted by bolts.

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